JP6542544B2 - Numerical control system to recognize motor shaft name - Google Patents

Description

  The present invention relates to a numerical control system, and more particularly to a numerical control system capable of recognizing an axis name and a correct combination of a motor and an amplifier.

  In a numerical control system consisting of a combination of a numerical control unit and a motor and an amplifier whose axis names are determined for each axis, when assigning axis names such as X, Y, Z, etc. for each axis and instructing movement to the axis, The movement location and speed are instructed for each axis name.

  In each axis name, there is a combination of motor and amplifier for driving the axis with that axis name, but usually the combination of motor and amplifier is determined by the wiring situation of the cable, and in each combination, The axis name is assigned on the numerical control device side.

  FIG. 12 is a block diagram of a conventional numerical control system. The numerical control device 10 calculates a movement command for the axis to which the axis name X, Y, Z is assigned, and sends the movement command to the interface of the amplifier number corresponding to the servo amplifier that drives the corresponding servomotor. , And receives feedback from the interface of the motor number corresponding to the corresponding servo motor to control the servo motor.

  The amplifier number and the motor number are indexes for the numerical control device 10 to identify the servo amplifier and the servo motor, respectively. Typically, in the communication buffer with the amplifier or the motor, the communication region with the specific amplifier or the motor is typically used. It is an attached index. For example, as shown in FIG. 12, the data written to the amplifier No. 1 in the communication buffer is sent only to the servo amplifier # 1, and the data read from the motor No. 2 in the communication buffer is sent from the servomotor # 2. Data.

The combination of the axis name, the amplifier number, and the motor number is given in advance, and the value set by the operator as a parameter is loaded each time the power is turned on. FIG. 13 shows a combination of an axis name, an amplifier number and a motor number loaded on the numerical control device 10 shown in FIG. 12. The numerical control device 10 performs axis control based on the above combination.
In some numerical control systems, feedback reaches the numerical control device via a servo amplifier that drives a servomotor.

  As a prior art related to a combination of a motor and an amplifier, for example, Patent Document 1 discloses a technique for reading an identification code of a servo amplifier and a motor, and outputting nonconformity if the two do not match each other.

Patent No. 2921707

  As mentioned above, the combination of the motor and the amplifier is determined by the wiring condition of the cable between them, but if a movement command is given to the axis with the wrong cable wiring or setting, the unexpected axis moves It is a danger. Also, the cable between the motor and the amplifier may sometimes be arranged with a plurality of axes together, which is prone to errors, and a system capable of setting according to the wiring or a system capable of indicating the wiring error is desired. ing.

  Although there is a prior art disclosed in Patent Document 1 as a system capable of pointing out a wiring error, it is possible to output a nonconformity in the case of a servo amplifier and a motor which are not compatible with each other by the method described in the document. Even if the combination of the servo amplifier and the motor which is in a compatible relationship, the wrong connection does not result in a nonconformity, and the above problem is not fundamentally solved.

  Therefore, an object of the present invention is to provide a numerical control system capable of recognizing an axis name and a correct combination of a motor and an amplifier.

  The invention according to claim 1 of the present application is directed to a plurality of axes respectively assigned with axis names, a servomotor for driving each of the plurality of axes, a servo amplifier for driving the servomotor, the servomotor and the servo A reading device for reading the individual identification code and axis name of the amplifier, the servomotor and the servo amplifier are connected, the motor number and amplifier number of each are set, and the axis name corresponding to the number is set, and movement is made with respect to the axis A numerical control system comprising: a numerical control device for performing a command, wherein the servomotor and the servo amplifier are provided on the surface with an individual identification code for identifying each individual and a sign with an axis name described therein; And an individual identification code storage unit storing the individual identification code, wherein the reading device includes the servomotor and the servomotor. It comprises: reading means for reading the individual identification code and the axis name written on the surface of the BoAmp; and transmission means for transmitting combination information of the individual identification code and axis name read by the reading means to the numerical controller The numerical controller is a combination table of a motor number and an individual identification code of the servomotor based on the servomotor and an individual identification code received from the servo amplifier, and an amplifier number and an individual identification code of the servo amplifier. And a combination table of the individual identification code and axis name of the servo motor and the servo amplifier received from the reading device, the motor number and the individual identification code of the servo motor, and the amplifier number And individual identification code of the servo amplifier And a combination table generating unit for generating a combination table of an axis name, an amplifier number, and an individual identification code of the servo amplifier based on the combination table of the axis name, the motor number, and the individual identification code of the servo motor. It is a numerical control system characterized by

  The invention according to claim 2 of the present application is the numerical control system according to claim 1, wherein the reading means for reading the individual identification code of the reading device is a camera.

The invention according to claim 3 of the present application is the numerical control system according to claim 1 or 2, wherein the reading means for inputting the axis name of the reading device is a camera.

  In the invention according to claim 4 of the present application, in the numerical control device, the combination table generation unit generates a combination parameter of an axis name, a motor number, and an amplifier number in a setting area of the numerical control device in advance. A combination table of an axis name, a motor number and an individual identification code of the servo motor and a combination table of an axis name, an amplifier number, and an individual identification code of the servo amplifier regarding the servo motor and servo amplifier currently connected; A detection means for detecting a contradiction by collating the created combination table with a combination parameter of the previously set axis name and motor number and amplifier number and outputting a warning when the detection means detects a contradiction The warning method according to any one of claims 1 to 3, further comprising warning means. A numerical control system according to one or Re.

  According to the present invention, since the combination of the motor and the amplifier can be recognized by the numerical controller, the combination table between the motor and the amplifier can be automatically generated according to the wiring condition. You can also check for wiring changes.

It is a principal part block diagram of a numerical control system in one embodiment of the present invention. It is a figure which shows the label stuck on a servo amplifier and a servomotor. It is a figure which shows the combination table of an amplifier number and a servo amplifier individual identification code. It is a figure which shows the combination table of a motor number and a servomotor individual identification code. It is a figure which shows the combination information of an axis | shaft name and a servo amplifier individual identification code. It is a figure which shows the combination information of an axis | shaft name and a servomotor individual identification code. It is a figure which shows the combination table of an amplifier number, an axis | shaft name, and a servo amplifier individual identification code. It is a figure which shows the combination table of a motor number, an axis | shaft name, and a servomotor individual identification code. It is a principal part block diagram of a numerical control system after initialization in one embodiment of the present invention. It is a flowchart of the initialization process performed on the numerical control apparatus of Embodiment 1 of this invention. It is a flowchart of the miswiring detection process performed on the numerical control device of Embodiment 2 of the present invention. It is a principal part block diagram of the numerical control system in prior art. It is a figure which shows the axis | shaft name of the numerical control apparatus in a prior art, amplifier number, and the combination information of a motor number.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
In the present invention, in a numerical control system comprising a combination of a numerical control device, a motor whose axis name is determined for each axis, and an amplifier, the motor, the individual identification number and axis name written on the surface of the amplifier, and the motor and amplifier Both built-in identification numbers are sent to the numerical control unit, and the numerical control unit recognizes the correct combination of axis name, amplifier and motor.

First Embodiment
FIG. 1 is a block diagram of a numerical control system according to an embodiment of the present invention. In the initial state, the combination of the axis name and the amplifier number and the motor number is not set in the numerical control device 10, and the association between the amplifier number and the motor number and the axis names X, Y and Z is unknown. Here, the amplifier number is the number of the interface with a specific servo amplifier as viewed from the numerical control device 10, and the motor number is the number of the interface with the specific servo motor as viewed from the numerical control device 10.

Labels in which the individual identification codes are written in the form of a two-dimensional bar code or the like as shown in FIG. 2A are attached to the servo motor and the servo amplifier of the present embodiment. When mounting the servo amplifier and the servo motor in the numerical control system 1, the operator writes the axis name of the position where the servo amplifier and the servo motor are mounted as shown in FIG. 2 (b) on the label. .
Further, in the memory (not shown) of the servo amplifier and servo motor of the present embodiment, an individual identification code capable of identifying each servo amplifier and servo motor is stored.

  In the numerical control system 1 of the present embodiment, when the power of the numerical control device 10 is turned on, first, a request to transmit an individual identification code to the servo amplifier and servomotor connected from the numerical control device 10 is output The individual identification code is transmitted from the servo amplifiers # 1 to # 3 and the servomotors # 1 to # 3 to the numerical controller 10 in response to the request. Based on the received individual identification codes of the servo amplifiers # 1 to # 3 and servo motors # 1 to # 3, the numerical controller 10 receives the interface numbers and individual identification codes of the amplifier and motor as shown in FIGS. 3 and 4. Create a combination table of

Then, by sequentially held over it a worker painter reader 20 with camera on the label affixed to each servo amplifier and the servo motor, the reader 20 reads and character recognition axis name from each of the label At the same time, the individual identification code is read, and the read axis name and individual identification code are transmitted to the numerical control device 10 as combination information.

  In the numerical control system 1 shown in FIG. 1, the reading device 20 is sequentially held over the labels attached to the servo amplifiers # 1 to # 3 and the labels attached to the servo motors # 1 to # 3, respectively. Combination information of axis name and servo amplifier individual identification code of servo amplifiers # 1 to # 3 (FIG. 5) and combination information of axis name and servo motor individual identification code of servo motors # 1 to # 3 (FIG. 6) Are sent to the numerical controller 10.

  Thereafter, in the numerical control device 10, each servo amplifier and each combination of the interface number and the individual identification code created based on the individual identification code received from the servo amplifier and the servomotor and the combination information received from the reading device 20 An axis name consisting of an individual identification code of each servomotor and an axis name, and a combination table of motor and amplifier are created.

  Specifically, the combination table of the amplifier number and the servo amplifier individual identification code of FIG. 3 and the combination information of the axis name and the servo amplifier individual identification code of FIG. 5 are combined based on the servo amplifier individual identification code Then, a combination table of the amplifier number, axis name and servo amplifier individual identification code shown in FIG. 7 is created, and the combination table of motor number and servo motor individual identification code in FIG. 4 and axis name and servo in FIG. By combining the combination information of the motor individual identification code on the basis of the individual identification code, a combination table of the motor number, the axis name, and the servo motor individual identification code shown in FIG. 8 is created.

Finally, the numerical control device 10 sets a combination of the axis name, the amplifier number, and the motor number as a parameter based on the created combination table.
FIG. 9 shows the numerical control system initialized based on the table created based on the above-mentioned procedure, and based on the combination parameter of the axis name, amplifier number and motor number set in this way, The numerical control device 10 can send a command for each axis to an amplifier of an appropriate amplifier number to receive feedback from a motor of an appropriate motor number.

FIG. 10 is a flowchart of the initial setting process executed on the numerical control device 10 of the present embodiment.
[Step SA01] A transmission of an individual identification code is requested to the servo amplifier and the servomotor via the interface.
[Step SA02] It is determined whether or not the individual identification code requested in Step SA01 is received. If it is received, the combination of the servo amplifier / servo amplifier interface number and the individual identification code is received based on the received information. A table is created, and the process proceeds to step SA03, and if not received, the present reception step is repeated.

[Step SA03] The reader is requested to transmit combination information of the individual identification code and the axis name.
[Step SA04] It is determined whether the combination information of the individual identification code and the axis name requested in Step SA03 has been received for all servo amplifiers and all servo motors. If it is received, the process proceeds to Step SA05. If not, the present reception step is repeated.

[Step SA05] A combination table of an amplifier number, an axis name and an individual identification code of a servo amplifier is created based on the combination table on the servo amplifier created in step SA02 and the combination information on the servo amplifier received in step SA04 Do.
[Step SA06] A combination table of motor number, axis name and servo motor individual identification code is created based on the combination table on servo motor created in step SA02 and the combination information on servo motor received in step SA04 Do.

Second Embodiment
In the first embodiment, an example is shown in which the numerical controller is made to recognize the correct combination of the axis name and the motor and the amplifier by the simple operation of the operator. However, in the present embodiment, when the wiring is changed or the like. Shows an example of detecting miswiring.

The numerical control system of this embodiment has the same configuration as that of the first embodiment.
Here, in the setting area provided on the memory of the numerical control device 10, a combination of the axis name and the amplifier number and the motor number is set in advance as a parameter at the time of shipment, or the initial setting process of the first embodiment The initial setting is performed through the above procedure, the combination of the axis name and the amplifier number and motor number is already set as a parameter, and then the connection status of the wiring of the amplifier and motor connected to the numerical controller 10 Assume the case of change.

  When the operator operates the operation panel or the like to command a check of incorrect wiring when the power of the numerical control device 10 of this embodiment is turned on again after changing the connection state of the wiring, the numerical control device 10 according to the first embodiment The combination table based on the current wiring connection status is created through the same procedure as the procedure for initial setting in, and there are no discrepancies in the combination parameters and contents of the axis name, amplifier number and motor number that have already been set To detect Then, by outputting an alarm or the like indicating that the coupling error is made when the discrepancies are detected, it becomes possible to prevent a miswiring.

FIG. 11 is a flowchart of miswiring detection processing executed on the numerical control device 10 of the present embodiment.
[Step SB01] Read out combination parameters of axis name, amplifier number and motor number from the setting area.
[Step SB02] In the reading of Step SB01, it is determined whether a combination parameter of an axis name, an amplifier number and a motor number has been set in the setting area, that is, whether or not initial setting has been performed. If the initial setting is performed, the process proceeds to step SB04. If the initial setting is not performed, the process proceeds to step SB03.

[Step SB03] The flowchart shown in FIG. 10 is executed to create an axis name-motor-amplifier combination table. Then, the combination parameter of the axis name, amplifier number and motor number based on the created combination table is written in the setting area, and the process proceeds to step SB08.
[Step SB04] It is determined whether a miswiring check is to be performed or not based on an input from the operation panel by the operator. If the incorrect wiring check is to be performed, the process proceeds to step SB05. If the incorrect wiring check is not performed, the process proceeds to step SB08.

[Step SB05] The flowchart shown in FIG. 10 is executed to create an axis name-motor-amplifier combination table.
[Step SB06] It is determined whether there is any contradiction between the combination parameter read out at Step SB01 and the combination table created at Step SB05. If there is no contradiction, the process proceeds to step SB08. If there is a contradiction, the process proceeds to step SB07.

[Step SB07] Alarm processing such as displaying a warning to the worker is executed.
[Step SB08] Operation is started based on the currently set combination parameter.

As mentioned above, although embodiment of this invention was described, this invention can be implemented in various aspects by adding an appropriate | suitable change, without being limited to the example of embodiment mentioned above.
Although the numerical control device, the servo amplifier, and the servomotor are connected one-to-one in the above-described diagram, there are various types of these connections, and all the above connections are serial buses, There are daisy chain connections, but the contents are the same.

1 Numerical Control System 10 Numerical Control Device 20 Reader

Claims (4)

A plurality of axes respectively assigned with an axis name, a servomotor for driving each of the plurality of axes, a servo amplifier for driving the servomotor, an individual identification code of the servomotor and the servo amplifier, and an axis name are read. It has a reading device, and a numerical control device connected to the servomotor and the servo amplifier, setting each motor number and amplifier number and an axis name corresponding to the number, and issuing a movement command to the axis Numerical control system, and
The servo motor and the servo amplifier are
A label with an individual identification code for identifying each individual on the surface and an axis name,
And individual identification code storage means for storing the individual identification code,
The reader is
The individual identification code written on the surface of the servomotor and the servo amplifier and a reading means for reading the axis name;
And transmission means for transmitting combination information of the individual identification code read by the reading means and the axis name to the numerical control device.
The numerical controller is
A combination table of a motor number and an individual identification code of the servo motor and a combination table of an amplifier number and an individual identification code of the servo amplifier are generated based on the servo motor and the individual identification code received from the servo amplifier. A combination table of the servomotor and the individual identification code and axis name of the servo amplifier received from the reading device, the motor number and the individual identification code of the servomotor, and the individual identification of the amplifier number and the servo amplifier Combination table generation means for generating a combination table of an axis name, a motor number and an individual identification code of a servomotor and a combination table of an axis name, an amplifier number and an individual identification code of a servo amplifier based on a combination table with a code Provided,
A numerical control system characterized by The reading means for reading the individual identification code of the reading device is a camera,
The numerical control system according to claim 1, characterized in that: The reading means for inputting the axis name of the reading device is a camera,
The numerical control system according to claim 1 or 2, characterized in that
The numerical controller is
When the combination parameter of the axis name, motor number and amplifier number is set in advance in the setting area of the numerical control device, the axis name regarding the servomotor and servo amplifier currently connected by the combination table generation means A combination table of the motor number and the individual identification code of the servomotor, and a combination table of the axis name, the amplifier number and the individual identification code of the servo amplifier are created, and the created combination table is the axis name and motor previously set. Detection means for collating the combination parameter with the number and the amplifier number to detect a contradiction,
Warning means for outputting a warning when the detection means detects a contradiction;
The numerical control system according to any one of claims 1 to 3, further comprising:

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